Enhancement of GPS/INS Navigation System Observability Using a Triaxial Magnetometer

Enhancing the observability of an integrated navigation system (i.e., triaxial-magnetometer-aided global positioning system (GPS) and inertial navigation system (INS)) is analyzed utilizing the Earth-centered-Earth-fixed (ECEF) coordinate system. The error states of the extended Kalman filter (EKF)-...

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Veröffentlicht in:TRANSACTIONS OF THE JAPAN SOCIETY FOR AERONAUTICAL AND SPACE SCIENCES 2019, Vol.62(3), pp.125-136
Hauptverfasser: NO, Heekwon, KEE, Changdon
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description Enhancing the observability of an integrated navigation system (i.e., triaxial-magnetometer-aided global positioning system (GPS) and inertial navigation system (INS)) is analyzed utilizing the Earth-centered-Earth-fixed (ECEF) coordinate system. The error states of the extended Kalman filter (EKF)-based GPS/INS integration algorithm are not fully observable given the position and velocity measurements of a single-antenna GPS receiver. Although the manner of maneuvering a vehicle can improve observability, full observability is not guaranteed. Measurements of a triaxial magnetometer provide attitude information and can enhance observability of the GPS/INS system. In this study, enhancing observability through aid of a triaxial magnetometer is investigated applying an analytic approach. The results of the analysis show that using a triaxial magnetometer allows the error states to be fully observable when the vehicle performs maneuvers. In addition, only one unobservable mode exists, even if the vehicle is in a static or non-accelerating condition.
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subjects Algorithms
Coordinates
Extended Kalman filter
Global Positioning System (GPS)
Global positioning systems
GPS
Inertial navigation
Inertial Navigation System (INS)
Magnetometer
Maneuvers
Navigation systems
Observability
Observability (systems)
Position measurement
Satellite navigation systems
title Enhancement of GPS/INS Navigation System Observability Using a Triaxial Magnetometer
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